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<div class="title">Scaling.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2008 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef EIGEN_SCALING_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define EIGEN_SCALING_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> { </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span>internal</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;{</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// This helper helps nvcc+MSVC to properly parse this file.</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// See bug 1412.</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode&gt;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">struct </span>uniformscaling_times_affine_returntype</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  {</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">enum</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      NewMode = int(Mode) == int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>) ? <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a> : Mode</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    };</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">typedef</span> Transform &lt;Scalar, Dim, NewMode&gt; type;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  };</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html">   51</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">   55</a></span>&#160;  <span class="keyword">typedef</span> Scalar_ <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a> m_factor;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#abf2d449b9ac8c5abae27f509829d217e">   64</a></span>&#160;  <a class="code" href="classEigen_1_1UniformScaling.html#abf2d449b9ac8c5abae27f509829d217e">UniformScaling</a>() {}</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#acb908575610c8b538f0f8f2c72a03f4d">   66</a></span>&#160;  <span class="keyword">explicit</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html#acb908575610c8b538f0f8f2c72a03f4d">UniformScaling</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>&amp; s) : m_factor(s) {}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>&amp; factor()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_factor; }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>&amp; factor() { <span class="keywordflow">return</span> m_factor; }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">   72</a></span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling</a> <a class="code" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1UniformScaling.html#abf2d449b9ac8c5abae27f509829d217e">UniformScaling</a>(m_factor * other.factor()); }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Dim&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Affine&gt;</a> <a class="code" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Translation.html">Translation&lt;Scalar,Dim&gt;</a>&amp; t) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">inline</span> <span class="keyword">typename</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <a class="code" href="classEigen_1_1Transform.html">internal::uniformscaling_times_affine_returntype&lt;Scalar,Dim,Mode&gt;::type</a></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#ab2bda36b52363fc2a6ddd1f8e84db783">   83</a></span>&#160;        <a class="code" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar, Dim, Mode, Options&gt;</a>&amp; t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Transform.html">internal::uniformscaling_times_affine_returntype&lt;Scalar,Dim,Mode&gt;::type</a> res = t;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    res.prescale(factor());</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">// TODO returns an expression</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a1aa0b5afeb6ef1dede1fdac5b1ecec76">   93</a></span>&#160;  <span class="keyword">inline</span> <span class="keyword">typename</span> Eigen::internal::plain_matrix_type&lt;Derived&gt;::type <a class="code" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> other * m_factor; }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived,<span class="keywordtype">int</span> Dim&gt;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,Dim,Dim&gt;</a> <a class="code" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1RotationBase.html">RotationBase&lt;Derived,Dim&gt;</a>&amp; r)<span class="keyword"> const</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> r.<a class="code" href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>() * m_factor; }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a207c55aa443a0a12c7d22e2f7fe9a4cd">  101</a></span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling</a> <a class="code" href="classEigen_1_1UniformScaling.html#a207c55aa443a0a12c7d22e2f7fe9a4cd">inverse</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1UniformScaling.html#abf2d449b9ac8c5abae27f509829d217e">UniformScaling</a>(<a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>(1)/m_factor); }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a90242c3ee1fa66eedd10d3be30ca6aaa">  110</a></span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;NewScalarType&gt;</a> <a class="code" href="classEigen_1_1UniformScaling.html#a90242c3ee1fa66eedd10d3be30ca6aaa">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;NewScalarType&gt;</a>(NewScalarType(m_factor)); }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherScalarType&gt;</div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#ae7feacbcb569e020dcdb709b8a8bb9b5">  115</a></span>&#160;  <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1UniformScaling.html#ae7feacbcb569e020dcdb709b8a8bb9b5">UniformScaling</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;OtherScalarType&gt;</a>&amp; other)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  { m_factor = <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>(other.factor()); }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a4e5d8f3628a40923ecdf37ae469a087b">  122</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1UniformScaling.html#a4e5d8f3628a40923ecdf37ae469a087b">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling</a>&amp; other, <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a>&amp; prec = <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> internal::isApprox(m_factor, other.factor(), prec); }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;};</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">// NOTE this operator is defined in MatrixBase and not as a friend function</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">// of UniformScaling to fix an internal crash of Intel&#39;s ICC</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived,<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a8f79e131479dbe709ee1173b1be9a8f0">  137</a></span>&#160;operator*(const <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase</a>&lt;Derived&gt;&amp; matrix, const <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling</a>&lt;<a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>&gt;&amp; s)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;{ <span class="keywordflow">return</span> matrix.derived() * s.factor(); }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">  141</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;float&gt;</a> <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<span class="keywordtype">float</span> s) { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;float&gt;</a>(s); }</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="namespaceEigen.html#ad2e71727718ca788680b3aa9eb485f98">  143</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;double&gt;</a> <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<span class="keywordtype">double</span> s) { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;double&gt;</a>(s); }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RealScalar&gt;</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a76386154f2cdb77190759744830422d1">  146</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;std::complex&lt;RealScalar&gt;</a> &gt; <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<span class="keyword">const</span> std::complex&lt;RealScalar&gt;&amp; s)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1UniformScaling.html">UniformScaling&lt;std::complex&lt;RealScalar&gt;</a> &gt;(s); }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="namespaceEigen.html#aafd4d881e7a6c2a68c1db03e261c767b">  151</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;Scalar,2&gt;</a> <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<span class="keyword">const</span> Scalar&amp; sx, <span class="keyword">const</span> Scalar&amp; sy)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;Scalar,2&gt;</a>(sx, sy); }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a162d759175d7c5214f33fefb30862815">  155</a></span>&#160;<span class="keyword">inline</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;Scalar,3&gt;</a> <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<span class="keyword">const</span> Scalar&amp; sx, <span class="keyword">const</span> Scalar&amp; sy, <span class="keyword">const</span> Scalar&amp; sz)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;Scalar,3&gt;</a>(sx, sy, sz); }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a109425bca2048c3df19249c04e73715c">  162</a></span>&#160;<span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1DiagonalWrapper.html">DiagonalWrapper&lt;const Derived&gt;</a> <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; coeffs)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;{ <span class="keywordflow">return</span> coeffs.<a class="code" href="classEigen_1_1MatrixBase.html#a14235b62c90f93fe910070b4743782d0">asDiagonal</a>(); }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a2ddfd74f7b73661aba5502f4f6956a31">  167</a></span>&#160;<span class="keyword">inline</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1DiagonalWrapper.html">DiagonalWrapper&lt;const Derived&gt;::PlainObject</a> <a class="code" href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Scaling</a>(<a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp;&amp; coeffs)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;{ <span class="keywordflow">return</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1DiagonalWrapper.html">DiagonalWrapper&lt;const Derived&gt;::PlainObject</a>(std::move(coeffs.derived())); }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="namespaceEigen.html#af2440178a1f5f6abef6ee0231bc49184">  171</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;float, 2&gt;</a> <a class="code" href="namespaceEigen.html#af2440178a1f5f6abef6ee0231bc49184">AlignedScaling2f</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="namespaceEigen.html#af8975289b8134a5021e806029516e82c">  173</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;double,2&gt;</a> <a class="code" href="namespaceEigen.html#af8975289b8134a5021e806029516e82c">AlignedScaling2d</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a45caf8b0e6da378885f4ae3f06c5cde3">  175</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;float, 3&gt;</a> <a class="code" href="namespaceEigen.html#a45caf8b0e6da378885f4ae3f06c5cde3">AlignedScaling3f</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a0aff001d5740f13797c9acd4e3276673">  177</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classEigen_1_1DiagonalMatrix.html">DiagonalMatrix&lt;double,3&gt;</a> <a class="code" href="namespaceEigen.html#a0aff001d5740f13797c9acd4e3276673">AlignedScaling3d</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Dim&gt;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Affine&gt;</a></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classEigen_1_1UniformScaling.html#a19c405341f2c861eb0ddfc4f760fecf8">  183</a></span>&#160;<a class="code" href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">UniformScaling&lt;Scalar&gt;::operator* </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Translation.html">Translation&lt;Scalar,Dim&gt;</a>&amp; t)<span class="keyword"> const</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Affine&gt;</a> res;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  res.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().<a class="code" href="classEigen_1_1PlainObjectBase.html#acc39eaf7ba22b725c86f1b9b8bb57c3c">setZero</a>();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  res.<a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>().diagonal().fill(factor());</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  res.<a class="code" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">translation</a>() = factor() * t.vector();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  res(Dim,Dim) = <a class="code" href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Scalar</a>(1);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_SCALING_H</span></div>
<div class="ttc" id="aclassEigen_1_1DiagonalMatrix_html"><div class="ttname"><a href="classEigen_1_1DiagonalMatrix.html">Eigen::DiagonalMatrix</a></div><div class="ttdoc">Represents a diagonal matrix with its storage.</div><div class="ttdef"><b>Definition:</b> DiagonalMatrix.h:144</div></div>
<div class="ttc" id="aclassEigen_1_1DiagonalWrapper_html"><div class="ttname"><a href="classEigen_1_1DiagonalWrapper.html">Eigen::DiagonalWrapper</a></div><div class="ttdoc">Expression of a diagonal matrix.</div><div class="ttdef"><b>Definition:</b> DiagonalMatrix.h:297</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div><div class="ttdoc">Base class for all dense matrices, vectors, and expressions.</div><div class="ttdef"><b>Definition:</b> MatrixBase.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1MatrixBase_html_a14235b62c90f93fe910070b4743782d0"><div class="ttname"><a href="classEigen_1_1MatrixBase.html#a14235b62c90f93fe910070b4743782d0">Eigen::MatrixBase::asDiagonal</a></div><div class="ttdeci">const DiagonalWrapper&lt; const Derived &gt; asDiagonal() const</div><div class="ttdef"><b>Definition:</b> DiagonalMatrix.h:327</div></div>
<div class="ttc" id="aclassEigen_1_1Matrix_html"><div class="ttname"><a href="classEigen_1_1Matrix.html">Eigen::Matrix</a></div><div class="ttdoc">The matrix class, also used for vectors and row-vectors.</div><div class="ttdef"><b>Definition:</b> Matrix.h:182</div></div>
<div class="ttc" id="aclassEigen_1_1PlainObjectBase_html_acc39eaf7ba22b725c86f1b9b8bb57c3c"><div class="ttname"><a href="classEigen_1_1PlainObjectBase.html#acc39eaf7ba22b725c86f1b9b8bb57c3c">Eigen::PlainObjectBase::setZero</a></div><div class="ttdeci">Derived &amp; setZero(Index size)</div><div class="ttdef"><b>Definition:</b> CwiseNullaryOp.h:564</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html"><div class="ttname"><a href="classEigen_1_1RotationBase.html">Eigen::RotationBase</a></div><div class="ttdoc">Common base class for compact rotation representations.</div><div class="ttdef"><b>Definition:</b> RotationBase.h:32</div></div>
<div class="ttc" id="aclassEigen_1_1RotationBase_html_ac69c68d9a256dd0d369b0f32c2b654e1"><div class="ttname"><a href="classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">Eigen::RotationBase::toRotationMatrix</a></div><div class="ttdeci">RotationMatrixType toRotationMatrix() const</div><div class="ttdef"><b>Definition:</b> RotationBase.h:47</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html"><div class="ttname"><a href="classEigen_1_1Transform.html">Eigen::Transform</a></div><div class="ttdoc">Represents an homogeneous transformation in a N dimensional space.</div><div class="ttdef"><b>Definition:</b> Transform.h:207</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a10681d9bbc6a7a81a9111b1f9e186948"><div class="ttname"><a href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">Eigen::Transform::linear</a></div><div class="ttdeci">ConstLinearPart linear() const</div><div class="ttdef"><b>Definition:</b> Transform.h:398</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a539fc3e91b20a43613bfefb8a4fb8a0e"><div class="ttname"><a href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">Eigen::Transform::translation</a></div><div class="ttdeci">ConstTranslationPart translation() const</div><div class="ttdef"><b>Definition:</b> Transform.h:408</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a5667367476f2c9a0257ae2614e5ec5ad"><div class="ttname"><a href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">Eigen::Transform::matrix</a></div><div class="ttdeci">const MatrixType &amp; matrix() const</div><div class="ttdef"><b>Definition:</b> Transform.h:393</div></div>
<div class="ttc" id="aclassEigen_1_1Translation_html"><div class="ttname"><a href="classEigen_1_1Translation.html">Eigen::Translation</a></div><div class="ttdoc">Represents a translation transformation.</div><div class="ttdef"><b>Definition:</b> Translation.h:33</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html"><div class="ttname"><a href="classEigen_1_1UniformScaling.html">Eigen::UniformScaling</a></div><div class="ttdoc">Represents a generic uniform scaling transformation.</div><div class="ttdef"><b>Definition:</b> Scaling.h:52</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_a207c55aa443a0a12c7d22e2f7fe9a4cd"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#a207c55aa443a0a12c7d22e2f7fe9a4cd">Eigen::UniformScaling::inverse</a></div><div class="ttdeci">UniformScaling inverse() const</div><div class="ttdef"><b>Definition:</b> Scaling.h:101</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_a46bc53fc4d8a61f9b15411938254f462"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#a46bc53fc4d8a61f9b15411938254f462">Eigen::UniformScaling::Scalar</a></div><div class="ttdeci">Scalar_ Scalar</div><div class="ttdef"><b>Definition:</b> Scaling.h:55</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_a4e5d8f3628a40923ecdf37ae469a087b"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#a4e5d8f3628a40923ecdf37ae469a087b">Eigen::UniformScaling::isApprox</a></div><div class="ttdeci">bool isApprox(const UniformScaling &amp;other, const typename NumTraits&lt; Scalar &gt;::Real &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> Scaling.h:122</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_a90242c3ee1fa66eedd10d3be30ca6aaa"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#a90242c3ee1fa66eedd10d3be30ca6aaa">Eigen::UniformScaling::cast</a></div><div class="ttdeci">UniformScaling&lt; NewScalarType &gt; cast() const</div><div class="ttdef"><b>Definition:</b> Scaling.h:110</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_a9bcc054da533bce8bff54cfe0644728d"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#a9bcc054da533bce8bff54cfe0644728d">Eigen::UniformScaling::operator*</a></div><div class="ttdeci">UniformScaling operator*(const UniformScaling &amp;other) const</div><div class="ttdef"><b>Definition:</b> Scaling.h:72</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_abf2d449b9ac8c5abae27f509829d217e"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#abf2d449b9ac8c5abae27f509829d217e">Eigen::UniformScaling::UniformScaling</a></div><div class="ttdeci">UniformScaling()</div><div class="ttdef"><b>Definition:</b> Scaling.h:64</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_acb908575610c8b538f0f8f2c72a03f4d"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#acb908575610c8b538f0f8f2c72a03f4d">Eigen::UniformScaling::UniformScaling</a></div><div class="ttdeci">UniformScaling(const Scalar &amp;s)</div><div class="ttdef"><b>Definition:</b> Scaling.h:66</div></div>
<div class="ttc" id="aclassEigen_1_1UniformScaling_html_ae7feacbcb569e020dcdb709b8a8bb9b5"><div class="ttname"><a href="classEigen_1_1UniformScaling.html#ae7feacbcb569e020dcdb709b8a8bb9b5">Eigen::UniformScaling::UniformScaling</a></div><div class="ttdeci">UniformScaling(const UniformScaling&lt; OtherScalarType &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Scaling.h:115</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Eigen::Affine</a></div><div class="ttdeci">@ Affine</div><div class="ttdef"><b>Definition:</b> Constants.h:462</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Eigen::Isometry</a></div><div class="ttdeci">@ Isometry</div><div class="ttdef"><b>Definition:</b> Constants.h:459</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition:</b> Core:139</div></div>
<div class="ttc" id="anamespaceEigen_html_a02918175ff75e5df9fd291cf5fc3fd1b"><div class="ttname"><a href="namespaceEigen.html#a02918175ff75e5df9fd291cf5fc3fd1b">Eigen::Scaling</a></div><div class="ttdeci">UniformScaling&lt; float &gt; Scaling(float s)</div><div class="ttdef"><b>Definition:</b> Scaling.h:141</div></div>
<div class="ttc" id="anamespaceEigen_html_a0aff001d5740f13797c9acd4e3276673"><div class="ttname"><a href="namespaceEigen.html#a0aff001d5740f13797c9acd4e3276673">Eigen::AlignedScaling3d</a></div><div class="ttdeci">DiagonalMatrix&lt; double, 3 &gt; AlignedScaling3d</div><div class="ttdef"><b>Definition:</b> Scaling.h:177</div></div>
<div class="ttc" id="anamespaceEigen_html_a45caf8b0e6da378885f4ae3f06c5cde3"><div class="ttname"><a href="namespaceEigen.html#a45caf8b0e6da378885f4ae3f06c5cde3">Eigen::AlignedScaling3f</a></div><div class="ttdeci">DiagonalMatrix&lt; float, 3 &gt; AlignedScaling3f</div><div class="ttdef"><b>Definition:</b> Scaling.h:175</div></div>
<div class="ttc" id="anamespaceEigen_html_af2440178a1f5f6abef6ee0231bc49184"><div class="ttname"><a href="namespaceEigen.html#af2440178a1f5f6abef6ee0231bc49184">Eigen::AlignedScaling2f</a></div><div class="ttdeci">DiagonalMatrix&lt; float, 2 &gt; AlignedScaling2f</div><div class="ttdef"><b>Definition:</b> Scaling.h:171</div></div>
<div class="ttc" id="anamespaceEigen_html_af8975289b8134a5021e806029516e82c"><div class="ttname"><a href="namespaceEigen.html#af8975289b8134a5021e806029516e82c">Eigen::AlignedScaling2d</a></div><div class="ttdeci">DiagonalMatrix&lt; double, 2 &gt; AlignedScaling2d</div><div class="ttdef"><b>Definition:</b> Scaling.h:173</div></div>
<div class="ttc" id="astructEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen.</div><div class="ttdef"><b>Definition:</b> NumTraits.h:231</div></div>
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